// The MIT License (MIT)
// Copyright (c) 2011 Akiyoshi Ochiai
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to 
// deal in the Software without restriction, including without limitation the 
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is 
// furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in 
// all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// 
#include <ros/ros.h>
#include <speech_recog_julius/SpeechRecogResult.h>

#include <numeric>
#include <iostream>

void Callback(speech_recog_julius::SpeechRecogResult::ConstPtr const& msg) {
  using namespace speech_recog_julius;
  std::vector<SentenceWithScore> const& sentences = msg->sentences;
  for (std::vector<SentenceWithScore>::const_iterator it = sentences.begin();
       it != sentences.end(); ++it) {
    struct Join {
      static std::string Apply(std::string const& sentence,
                               WordWithConfidence const& word) {
        return sentence + word.word;
      }
    };
    std::string sentence = std::accumulate(it->words.begin(), it->words.end(),
                                           std::string(), &Join::Apply);

    std::cout << "Sentence [" << it->score << "] " << sentence << std::endl;
  }
}

int main(int argc, char** argv) {
  ros::init(argc, argv, "speech_listener");
  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe("/speech", 1, &Callback);

  ros::spin();
  return 0;
}

